2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Diff: TVDCTRL.h

Revision:
59:7fdf1168c5c3
Parent:
55:e9ca699bec57
--- a/TVDCTRL.h	Tue Jan 09 10:09:01 2018 +0000
+++ b/TVDCTRL.h	Tue Feb 27 04:35:43 2018 +0000
@@ -29,7 +29,7 @@
 const int MAX_MOTOR_TORQUE_REGENERATIVE     = (int)(-15.0 / LSB_MOTOR_TORQUE);              //Motor max torque:-15.0[Nm](digital value:1000)
 const int MAX_OUTPUT_TORQUE_POWER           = (int)(MAX_MOTOR_TORQUE_POWER * 1.0);          //出力最大値
 const int MAX_OUTPUT_TORQUE_REGENERATIVE    = (int)(MAX_MOTOR_TORQUE_REGENERATIVE * 0.0);   //出力最大値
-const int MAX_DISTRIBUTION_TORQUE           = (int)(15.0 / LSB_MOTOR_TORQUE);               //出力MAX時 (digital value:1000)
+const int MAX_DISTRIBUTION_TORQUE           = (int)(10.0 / LSB_MOTOR_TORQUE);               //出力MAX時 (digital value:1000)
 const int MAX_DISTRIBUTION_TORQUE_OMEGA     = (int)(10.0 / LSB_MOTOR_TORQUE);               //出力MAX時 (digital value:1000)
 
 const int MIN_INNERWHEEL_MOTOR_TORQUE   = (int)(2.0 / LSB_MOTOR_TORQUE);     //内輪側モーターの最低トルク(MITSUBA社MC仕様対策)
@@ -78,6 +78,8 @@
 const int MAX_PULSE_TIME            =150000;    //最大パルス時間(about:4.02km/h)
 const int MAX_WHEEL_PULSE_TIME_US   =3350000;
 
+const double ZERO_AXLE_TORQUE_FACTOR     = (ALPHA-1.0)/(ALPHA+1.0);         //車軸トルクを0とするための係数(対象の車軸の反対側のモータトルクにこれをかける)
+
 void initTVD(void);
 void driveTVD(int TVDmode, bool isRedyToDrive);